worldmodel: semantic_model_web_interface | semanticmodel | worldmodel_ops

Stack Summary

worldmodel

• Author: Maintained by Bhaskara Marthi
• License: BSD
• Repository: wg-kforge
• Source: hg https://kforge.ros.org/worldmodel/hg

Introduction

The worldmodel stack implements a set of tools for object-based semantic world modeling, including a perceptual pipeline and database system to support semantic queries. The resulting object database is made available using a web interface; see below. The system is specifically tailored to long-term operation with minimal perceptual assumptions; it requires only a Microsoft Kinect (mounted some distance from the floor) and a localized mobile base. Generating and querying your own semantic maps is straightforward!

Web Interface

The system has been run on a large dataset of the interior of Willow Garage; the web interface to the resulting database (and the semantic querying applications built atop it) is available at at http://worldmodel.willowgarage.com.

We intend to post the dataset at a future date; details will appear on this page when that happens.

Installation

Download the source code from KForge (linked above), or install the ros-electric-worldmodel package. This stack is fairly dependency-heavy, as it includes code for actively pointing a PR2 head for improved data collection. Note that a PR2 is not necessary to use this stack! (You will need to install the dependencies nonetheless.)

Getting Started

For data collection, see semanticmodel. Once you've collected some data, see semantic_model_web_interface. If you have a continuous operation system running, see worldmodel_ops.

Report a Bug

Use trac to report bugs or request features. [View active tickets]